To make sure you received the correct model, it is
essential to verify the A1000 nameplate with your order
and make sure the A1000 has the correct rating so it can
be used with your motor. Please check the nameplate
information as shown in the example below.
· Check that the available power will meet the input
power requirements.
compatible with the motor requirements.
Mounting the A1000
· In the case of systems with more than one A1000, follow
the above procedure for each A1000 and motor.
The mounting of the A1000 is extremely important regarding
environment and accessibility. Depending on your system,
there are various models available and the mounting
dimensions (footprint) may be different. Because the
mounting procedure is fairly extensive, it is beyond the scope
of this document; the user is referred to the A1000 User
Manual (Document No. SIEP C710606 21A) received with
the A1000, Section 2.2 Mechanical Installation. Match the
model that you received and follow the procedure described
in the manual to ensure a safe and functional installation. In
cases where the system has more than one A1000, refer to
the proper clearances required for adequate ventilation.
Please pay particular attention to:
· The clearances to be maintained around the enclosure
for adequate ventilation.
excessive dampness, extreme temperatures, chemical
exposure, corrosive areas, etc. to avoid damage to the
equipment and to maintain safety.
Removing and Attaching the Terminal Cover Improper removal of the A1000 terminal cover as well as
front cover can cause extensive damage to the A1000. To
avoid damage to these items, please pay particular attention
to the A1000 User Manual, Document No. SIEP C710606
21A, Section 3.5, Removing and Attaching the Terminal
Cover.
Step
The following
Page 1 of 3
In this step the PG-X3 encoder feedback card is installed. WITH POWER OFF install the PG-X3 card as shown below. Make sure
to follow good wiring practices and all applicable codes. Ensure that the feedback card is grounded properly as shown in
fig. 3 item H.
This option card can be inserted into either the CN5-B or CN5-C connectors located on the drive’s control board. If only one option
card is connected to the drive, use the CN5-C connector. If two option cards are connected, use both CN5-B and CN5-C.
See the A1000 User Manual, Document No. SIEP C710606 21A, Section 3.5, for directions on removing the front cover.
Insert the PG-X3 card (connector CN5) into the matching CN5 connector on the A1000 control card. Next use the screws to fasten
the card into place. Connect one of the ground lead lines to the ground terminal with one of the screws. Two separate ground lead
lines have been included with the option card. Use the longer one when the option card is plugged into connector CN5-C on the
A1000 control card side and use the shorter one if the PG-X3 card is plugged into connector CN5-B.
PG-X3 Option Card
Option Card Installation
PG-X3 Terminals
TB1
TB2
PG
Set F1-37 = 0 (default)
PG-X3 Terminals
TB1
TB2
Set F1-37 = 1
Encoder Power Supply
Default
Connect Encoder (PG) signals to TB1 terminals of the PG-X3 card as shown below.
Connect power supply from the PG-X3 card (TB1 – Terminals IP and IG) to the Encoder (PG).
IMPORTANT: Verify Encoder
Power Supply Rating
PG-X3 Encoder Wiring
! A single channel encoder can only be used in V/f + PG control mode (A1-02 = 1). It is required
to use a quadrature encoder in Flux Vector control mode (A1-02 = 3).
– Connector CN5-C
– Connector CN5-B
– Connector CN5-A
– Use wire cutters to create an opening for cable lines
– Front cover
– Digital Operator
– Terminal cover
– Terminal block TB2
Suitable for V/f or Flux Vector with Feedback.
A1000 Cheat Sheet (Closed Loop Operation)
WARNING DO NOT CONNECT ANY OF THE
FOLLOWING TERMINALS TO EARTH GROUND
B1 B2 - +1 +2 +3
NOT USED
Select the proper diagram for the model you are installing
(see Step 1). WITH POWER OFF make the appropriate
connections.
applicable codes. Ensure that the equipment is
grounded properly as shown in fig. 1
DANGER; LETHAL VOLTAGES ARE PRESENT- Before
applying power to the A1000, ensure that the terminal
cover is fastened and all wiring connections are secure.
After the power has been turned OFF, wait at least five
minutes until the charge indicator extinguishes
completely before touching any wiring, circuit boards or
components.
!
Make sure the A1000 has been properly sized for single phase input
power. For best performance, the drive input supply voltage must be at
least equal to or greater than the motor rated voltage.
3Ø Induction
rotation swap any two of the
three motor leads
(See Step 2)
Fig. 2 Input Power and Output Motor Electrical Connections for
Models: 2_0110 & Larger and 4_0058 & Larger
(R/L1) (S/L2) (T/L3)
3Ø Input Power
L1 L2 L3
3Ø Input Power
Fig. 1 Input Power and Output Motor Electrical Connections for
Models: 2_0004 - 2_0056, 4_0002 - 4_0044 and 5_0003 - 50011
Use L1, L2 for
motor
Connect
*
Page 2 of 3 A1000 Cheat Sheet (Closed Loop Operation) Step
4 Check Motor Rotation in Open Loop
(Motor uncoupled from Load)
In this step the A1000 is setup for use with the motor in closed loop operation. Make sure the following has been done:
· Encoder (PG) connected correctly to the PG-X3 Card
· All protective covers have been re-attached
· Ensure the motor can spin freely and any connected mechanical brake is released
· Connected machinery should be allowed to rotate the motor
IMPORTANT:
To achieve optimal drive performance use rotational Auto-Tuning with the load decoupled from the motor. If motor and load can not be decoupled,
reduce the motor load so that it is no greater than 30% of the rated load. Performing rotational Auto-Tuning with a higher load can result in incorrect
motor parameters and may cause irregular motor rotation.
Next apply power to the A1000. DO NOT RUN THE MOTOR.
From the main reference press once until the Digital Operator
shows the Auto-Tuning menu then press .
Press once until the Digital Operator shows parameter
T1-02 Mtr Rated Power then press
Digit Flashing
Press to select the digit you would like to change and
use to adjust value and press to save.
Enter Motor Power in kW (Kilowatt)
Motor HP to kW = HP x 0.746
Example: 10HP = 10 x 0.746 = 7.46 kW
T1-03 Rated Voltage (e.g. 230 V, 460 V)
T1-04 Rated current (e.g. 11.0 A, 22.0 A)
T1-05 Rated Frequency (e.g. 60.0 Hz)
T1-06 Number of Poles (e.g. 4 Poles)
For standard AC motors
motor base frequency
motor rated speed.
Press to select the next parameter and follow the same
procedure described above to adjust its value.
Warning! Sudden movement hazard. The A1000 and
motor may start unexpectedly during Auto-Tuning.
Warning! Electric Shock Hazard. High voltage will be
supplied to the motor when stationary Auto-Tuning is
performed. Do not touch the motor during auto-tuning.
Notice: Auto-Tuning will not function properly when a
brake is engaged on the load. Ensure the motor shaft
can freely rotate. Never perform an Auto-Tune with
motor connected to a load.
!
Auto-Tuning start command.
will now start the Auto-tuning procedure.
The display will show message “Tune Successful” when the
Auto-Tuning procedure has been successfully completed.
Please refer to the A1000 User Manual or repeat the
procedure again if the display shows an error message.
Select Closed Loop Control Method A1-02
Select Closed Loop Control Method
Go to parameter A1-02, Select V/f with PG Method
or Closed Loop Vector
V/f with PG
Closed Loop Vector
that medium to high speed control
accuracy, high torque response and full
torque at 0 speed.
T1-08 Encoder / PG Number of Pulses per Rev. (e.g. 1024)
Continue
Start here
! Encoder Direction
Check the motor speed monitor U1-05 while turning the motor manually in forward direction (CW). If the sign displayed
is negative, power down the drive, wait at least five minutes until the charge indicator extinguishes completely
then swap encoder wires A+ with A- on the PG-X3 card. Next power-up the drive and repeat this test. Or reverse the
encoder direction with parameter F1-05. For encoders with only A & B outputs, exchange A & B.
Rotational Auto-Tuning Closed Loop (De-couple Motor from Load)
Step
Motor Rotation Test
In this step the motor is checked for proper direction and operation.
This test is to be performed solely from the digital operator. Apply
power to the A1000 after all the electrical connections have been
made and protective covers have been re-attached. At this point,
DO NOT RUN THE MOTOR, the Digital Operator should display as
shown in Fig. 3.
any two of the three
output leads to the motor
(U/T1, V/T2 and W/T3).
After the wiring change,
repeat Step 3 and
recheck motor direction.
After the power has been turned OFF, wait at least five
minutes until the charge indicator extinguishes completely
before touching any wiring, circuit boards or components.
DANGER
If motor rotation is not correct, then either reverse “Phase
Order” using parameter b1-14 or power down the drive, wait
five minutes and swap 2 motor leads.
!
position to the right and to increase the
frequency reference (d1-01) to 10.00 Hz.
Press to save frequency reference.
Next, press on the Digital Operator. The motor
should now be operating at low speed running in the correct
forward (clockwise) direction.
Digital Operator
turned off.
First Digit
Green LED
turns on.
10.00 Hz
This step shows how to access and modify a A1000 parameter as
well as how to monitor A1000 signals such as output frequency
and motor current.
Make sure all protective covers have been re-attached and power
is turned on. DO NOT RUN THE MOTOR.
Press two times until the digital operator shows the parameter menu.
Select Digit
Monitor Motor Frequency and Motor Current
To monitor output frequency and motor current or other signals
individually, press once, the press
. Next press to select monitor
Use to select monitor signal.
Please refer to the A1000 User Manual, (Document No.
SIEP C710606 21A) on how to access other drive monitors.
U1-02 Output Frequency
Switch to Edit Mode Save New ValueModify Value
A1000 Digital Operator power-up state
Output Frequency and Motor Current can be monitored
simultaneously.
Digits
Flashing
Step
7 Selecting Start/Stop and Speed Reference Sources
Page 3 of 3
The following tables show how to fine tune motor operation for V/f with PG and Closed Loop Vector Operation.
Please refer to the A1000 User Manual (Document No. SIEP C710606 21A) for additional information.
Yaskawa America, Inc.
DrivesHelpDesk@yaskawa.com www.yaskawa.com
A1000 Cheat Sheet (Closed Loop Operation)
Problem
Parameter
Action
Default
Suggested Setting
· Motor is hunting and oscillation at speeds be- tween 10 and 40Hz.
n1-02 Hunting Prevention Gain
· If insufficient motor torque relative to the size of the load causes hunting reduce the setting.
· When motor hunting and oscillation occur with a light load increase setting.
· Lower this setting if hunting occurs when using a motor with a relatively low inductance such as a high-frequency motor or a motor with a larger frame size.
1.00 0.10 to 2.00
C6-02 Carrier Frequency Selection
· If the motor noise is too loud increase the carrier frequency.
· When motor hunting and oscillation occur at speeds up to 40 Hz lower the carrier frequency.
· The default setting for the carrier frequency depends on the drive capacity (o2-04) and the Duty Selection (C6-01).
1 (2 kHz) 1 to max. setting
· Poor torque or speed response
· Motor hunting and oscillation C4-02 Torque Compensation Primary Delay Time
· If motor torque and speed response are too slow, decrease the setting.
· If motor hunting and oscillation occur, increase the setting.
200 ms <1> 100 to 1000 ms
· Poor motor torque at speeds below 10 Hz
· Motor hunting and oscillation C4-01 Torque Compensation Gain
· If motor torque is insufficient at speeds below 10 Hz, increase the setting.
· if motor hunting and oscillation with a relatively light load, decrease the setting.
1.00 0.50 to 1.50
· Motor instability at motor start
E1-08 Mid Output Voltage A E1-10 Minimum Output Voltage
· If motor torque is insufficient at speeds below 10 Hz, increase the setting.
· If motor instability occurs at motor start, decrease the setting. Note: The recommended setting value shown is for 200 V class drives. Multiply value x 2 for 400V class drives and x 2.875 for 575V class drives.
E1-08: 15.0 V <2> E1-10: 9.0 V <2>
Default setting ±5 V
· Poor speed precision C5-01 ASR Proportional Gain 1 <3> C5-02 ASR Integral Time 1 <4>
Adjust the ASR proportional gain 1 (C5-01) and the ASR integral time 1 (C5-02).
C5-01: 0.20 C5-02: 0.200
Prop. gain = 0.10 to 1.00 Int. time = 0.100 to 2.000
Problem
Parameter
Action
Default
· Motor hunting and oscillation
C5-01 ASR Proportional Gain 1 <4> C5-03 ASR Proportional Gain 1 <4>
· If motor torque and speed response are too slow, gradually in- crease the ASR gain setting by 5.
· If motor hunting and oscillation occur, decrease the setting.
· Parameter C5-03 needs to be adjusted only if C5-07 > 0.
· Perform ASR Auto-Tuning if possible
20.00 10.00 to 50.00
C5-02 ASR Integral Time 1 <4> C5-04 ASR Integral Time 2 <4>
· If motor torque and speed response are too slow, decrease the setting.
· If motor hunting and oscillation occur, increase the setting.
· Parameter C5-04 needs to be adjusted only if C5-07 > 0.
0.500 s 0.300 to 1.000 s
· Trouble maintaining the ASR proportional gain or the integral time at the low or high end of the speed range
C5-07 ASR Gain Switching Frequency <4> Have the drive switch between two different ASR proportional gain and integral time settings based on the output frequency.
0.0 Hz 0.0 to max. freq. output
· Motor hunting and oscillation C5-06 ASR Primary Delay Time Constant <4>
· If motor torque and speed response are too slow, gradually decrease the setting by 0.01.
· If the load is less rigid and subject to oscillation, increase this setting.
0.004 s 0.004 to 0.020s
· Motor noise
· Motor hunting and oscillation occurs at speeds below 3 Hz
C6-02 Carrier Frequency Selection
· If there is too much motor noise, the carrier frequency is too low.
· If motor hunting and oscillation occur at low speeds, reduce the carrier frequency. Note: The default setting for the carrier frequency depends on the drive capacity (o2-04) and Drive Duty Selection (C6-01).
1 2KHz to max. setting
· Overshoot or undershoot when the speed changes with high inertia load
Use S-Curve: C2-01, C2-02, C2-03, C2-04 0 1
Closed Loop Vector Control (A1-02 = 3)
<1> Default setting value is dependent on parameter A1-02, Control Method Selection, and o2-04, Drive Model Selection. <2> Default settings change when the Control Method is changed (A1-02) or a different V/f pattern is selected using parameter E1-03. <3> ASR in V/f Control with PG only controls the output frequency, and therefore does not allow for high gain settings like in Close Loop Vector control. <4> Refer to C5: Automatic Speed Regulator (ASR) in the A1000 User Manual (Document No. SIEP C710606 21A) for details on Automatic Speed Regulator (ASR).
This step shows how to setup the run and reference source of the A1000. The run source determines
how the A1000 drive receives its start and stop command and the reference source determines how
the speed of the motor is controlled. Make sure all protective covers have been re-attached and power
is turned on. DO NOT RUN THE MOTOR.
This section may require you to change one or more A1000 parameters. Please refer to Step 5
for a detailed explanation on how to change parameters.
SELECT RUN SOURCE
b1-02
2. Start / Stop Control from external terminals (switch or relay contact)
Go to parameter b1-02, set value to ( Factory Default)
NOTE: It is beyond the scope of this document to program the A1000 drive for network communication control.
Please refer to the refer to the A1000 User Manual, (Document No. SIEP C710606 21A) for this selection.
SELECT REFERENCE SOURCE b1-01
Go to parameter b1-01, set value to
2. Adjust motor speed / frequency from external terminals (0 - 10V / 4 - 20mA Signal)
Go to parameter b1-01, set value to (Factory Default)
+
V+ AC V- A1 A2 A3 FM AM AC MP
Potentiometer
2K Ohm
User Terminals
RP AC V+ AC V- A1 A2 A3 FM AM AC MP
User Terminals
RP AC
0 ~ 10Vdc
+
V+ AC V- A1 A2 A3 FM AM AC MP RP AC
4 ~ 20mA Note: 2
Wiring Diagram: 2-Wire Control
Wiring Diagram: 3-Wire Control
Note: 3 rd
S3 S5 S6 S7 S8 SN SC SPS2 S4S1
Forward Reverse
User Terminals
Link Link